A tool to convert a .pcap file from a Velodyne VLP-16 LiDAR sensor 
to multiple .pcd PointCloud files.
This stand-alone VLP Grabber can save you time from
compiling PCL (PointCloud Library) from source.
Author: David Butterworth, 2019.
using code from PCL and Tsukasa Sugiura.
Code was tested on:
- Ubuntu 16.04 with PCL 1.7.2
- Ubuntu 18.04 with PCL 1.8.1
Dependencies:
sudo apt install libpcl-dev libpcap-dev pcl-tools
Compile:
mkdir build
cd build/
cmake ..
make
Sample data:
http://midas3.kitware.com/midas/community/29/
Playback the data in PCL Visualizer:
./main -pcap /path/to/data.pcap
Press 'q' key to exit.
Convert the data to .pcd files:
./main -pcap /path/to/data.pcap -saveframes 1
This saves each scan as a separate file
e.g.
cloud00000.pcd
cloud00001.pcd
cloud00002.pcd
etc.
To view one of the scans:
pcl_viewer cloud00000.pcd